Is time/space estimation of possible actions required for creating AGI?
Time - probably yes; Space - probably no 

Every single thing could be time dependent but there is no such thing on which time depends except considering space (black holes, bending of space time), Now we can argue that it can compare memories of present to its previous memories relatively and then call this relativeness time but even there the AGI is putting a time stamp when calling something previous. 
Now lets consider how time could be dependent upon space. In this case we can see things getting compared to how much light travels like how the SI unit of time is defined, but that is a really complex observation for a discrete system and it has to go through a lot of time dependent phenomena to reach the level to make the observation. 

Space - We can reduce this question by saying that if it could learn the concept of 1-D it could learn about space itself. 1-D space can be compared to a number line, assuming the agi knows the concept of numbers it can compare the differences in location with a number line .And if agi knows the concept of time  it can learn space estimation by always assigning velocity to objects.
The difference between time and space is, time is always moving and there is nothing to compare to. 

P.S. Sorry for bad english, english is not my first language.